#ifndef GLOBAL
#define GLOBAL
#define OPENCV
#include "udp.hpp"
#include <thread>
#include <opencv2/opencv.hpp>
#include <atomic>
#include <stdlib.h>
#include "mav_msg.h"
#include "Aitech.hpp"
#include <time.h>
#include "newstatusValues.hpp"
#include "newFuncs.hpp"
#define printmsg(sg) std::cout << sg << std::endl
#if defined(_MSC_VER) && (_MSC_VER >= 1200)
#define dxnum 1.0
#include <Windows.h>
#else
#define dxnum 0.001
#include <unistd.h>
#define Sleep(x) usleep(x * 1000)
#endif

#define robotmessage "Build Time:" + string(__TIME__) + " Date:" + __DATE__ + "\nCopyRight@2019-2020\nAUV(zzu) is connected.\nStart to send messages..."
#define w_width 830
#define h_hidth 650
typedef struct
{
	int x = 0;
	int y = 0;
	int z = -200;
	int r = 0;
} vector_state;

typedef struct
{
	float pitch;
	float roll;
	float yaw;
	float deep;
} zitai;

#endif